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localize_for_ppk
Commit 989ab5d0 authored by wangdawei's avatar wangdawei
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test

parent b0600a9e
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Showing with 16 additions and 13 deletions
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @ 989ab5d0
...@@ -301,19 +301,22 @@ bool AdjustPPK::Undisort( ...@@ -301,19 +301,22 @@ bool AdjustPPK::Undisort(
bool AdjustPPK::ConfigMap(double timestamp) bool AdjustPPK::ConfigMap(double timestamp)
{ {
int ret = ppkPeriodVec_.at(periodIndex_).InPeriod(timestamp); int ret;
if(-1 == ret){ while(true){
return false; ret = ppkPeriodVec_.at(periodIndex_).InPeriod(timestamp);
} if(-1 == ret){
if(0 == ret){ return false;
periodIndex_++; }
LOG(INFO) << "next period " << periodIndex_; if(0 == ret){
}else{ //no need reset matcher periodIndex_++;
return true; LOG(INFO) << "next period " << periodIndex_;
} }else{ //no need reset matcher
if(periodIndex_ >= ppkPeriodVec_.size()){ break;
LOG(INFO) << "ppkPeriodVec_ reach end"; }
return false; if(periodIndex_ >= ppkPeriodVec_.size()){
LOG(INFO) << "ppkPeriodVec_ reach end";
return false;
}
} }
auto meshId = ppkPeriodVec_.at(periodIndex_).meshId; auto meshId = ppkPeriodVec_.at(periodIndex_).meshId;
while(!meshVec_.at(meshId).matcher){ while(!meshVec_.at(meshId).matcher){
......
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